//
// The MIT License (MIT)
//
// Copyright (c) 2022 Livox. All rights reserved.
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
// SOFTWARE.
//

#ifndef LIVOX_DRIVER_PUB_HANDLER_H_
#define LIVOX_DRIVER_PUB_HANDLER_H_

#include <atomic>
#include <cstring>
#include <condition_variable>  // std::condition_variable
#include <deque>
#include <functional>
#include <map>
#include <memory>
#include <mutex>  // std::mutex
#include <thread>

#include "livox_lidar_def.h"
#include "livox_lidar_api.h"
#include "comm/comm.h"

namespace livox_ros
{

class LidarPubHandler {
public:
  LidarPubHandler();
  ~LidarPubHandler() {
  }

  void PointCloudProcess(RawPacket& pkt);
  void SetLidarsExtParam(LidarExtParameter param);
  void GetLidarPointClouds(std::vector<PointXyzlt>& points_clouds);
  void GetLidarPointCloudsInvalid(std::vector<PointXyzlt>& points_clouds);

  uint64_t GetRecentTimeStamp();
  uint32_t GetLidarPointCloudsSize();
  uint64_t GetLidarBaseTime();

private:
  void                    LivoxLidarPointCloudProcess(RawPacket& pkt);
  void                    ProcessCartesianHighPoint(RawPacket& pkt);
  void                    ProcessCartesianLowPoint(RawPacket& pkt);
  void                    ProcessSphericalPoint(RawPacket& pkt);
  std::vector<PointXyzlt> points_clouds_;
  std::vector<PointXyzlt> points_clouds_invalid_;
  ExtParameterDetailed    extrinsic_ = {{0, 0, 0}, {{1, 0, 0}, {0, 1, 1}, {0, 0, 1}}};
  std::mutex              mutex_;
  std::mutex              mutex_invalid_;
  std::atomic_bool        is_set_extrinsic_params_;
};

class PubHandler {
public:
  using PointCloudsCallback = std::function<void(PointFrame*, void*)>;
  using ImuDataCallback     = std::function<void(ImuData*, void*)>;
  using TimePoint           = std::chrono::high_resolution_clock::time_point;

  PubHandler() {
  }

  ~PubHandler() {
    Uninit();
  }

  void Uninit();
  void RequestExit();
  void Init();
  void SetPointCloudConfig(const double publish_freq);
  void SetPointCloudsCallback(PointCloudsCallback cb, void* client_data);
  void AddLidarsExtParam(LidarExtParameter& extrinsic_params);
  void ClearAllLidarsExtrinsicParams();
  void SetImuDataCallback(ImuDataCallback cb, void* client_data);

private:
  // thread to process raw data
  void                         RawDataProcess();
  std::atomic<bool>            is_quit_{false};
  std::shared_ptr<std::thread> point_process_thread_;
  std::mutex                   packet_mutex_;
  std::condition_variable      packet_condition_;

  // publish callback
  void        CheckTimer(uint32_t id);
  void        PublishPointCloud();
  static void OnLivoxLidarPointCloudCallback(uint32_t handle, const uint8_t dev_type, LivoxLidarEthernetPacket* data, void* client_data);

  static bool     GetLidarId(LidarProtoType lidar_type, uint32_t handle, uint32_t& id);
  static uint64_t GetEthPacketTimestamp(uint8_t timestamp_type, uint8_t* time_stamp, uint8_t size);

  PointCloudsCallback points_callback_;
  void*               pub_client_data_ = nullptr;

  ImuDataCallback imu_callback_;
  void*           imu_client_data_ = nullptr;

  PointFrame frame_;

  std::deque<RawPacket> raw_packet_queue_;

  // pub config
  uint64_t  publish_interval_           = 100000000;  // 100 ms
  uint64_t  publish_interval_tolerance_ = 100000000;  // 100 ms
  uint64_t  publish_interval_ms_        = 100;        // 100 ms
  TimePoint last_pub_time_;

  std::map<uint32_t, std::unique_ptr<LidarPubHandler>> lidar_process_handlers_;
  std::map<uint32_t, std::vector<PointXyzlt>>          points_;
  std::map<uint32_t, std::vector<PointXyzlt>>          points_invalid_;
  std::map<uint32_t, LidarExtParameter>                lidar_extrinsics_;
  static std::atomic<bool>                             is_timestamp_sync_;
  uint16_t                                             lidar_listen_id_ = 0;
};

PubHandler& pub_handler();

}  // namespace livox_ros

#endif  // LIVOX_DRIVER_PUB_HANDLER_H_
